CN106627022A - Semi-active vehicle suspension system with vibration energy recycling function and control method thereof - Google Patents

Semi-active vehicle suspension system with vibration energy recycling function and control method thereof Download PDF

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CN106627022A
CN106627022A CN201610835967.0A CN201610835967A CN106627022A CN 106627022 A CN106627022 A CN 106627022A CN 201610835967 A CN201610835967 A CN 201610835967A CN 106627022 A CN106627022 A CN 106627022A
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deviation
carried mass
quantization amount
time
change
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CN106627022B (en
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寇发荣
范养强
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Xian University of Science and Technology
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Xian University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/16—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase
    • B60G13/18—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase combined with energy-absorbing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0182—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/20—Type of damper
    • B60G2202/25—Dynamic damper

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a semi-active vehicle suspension system with a vibration energy recycling function. The system comprises a damper, a spring, a control system and an energy recycling system; the damper comprises a hydraulic cylinder, a hydraulic motor, a direct-current motor, a first transmission shaft, a first roller clutch, a second roller clutch, a first bevel gear, a second bevel gear, a third bevel gear and a second transmission shaft; the control system comprises a suspension vibration controller, a force sensor, a sprung mass acceleration sensor, a sprung mass displacement sensor, a non-sprung mass displacement sensor and a direct-current motor driver; the energy recycling system comprises an energy recycling circuit and a super capacitor. The invention further discloses a control method of the semi-active vehicle suspension system with the vibration energy recycling function. Accordingly, the working stability and reliability are high, the energy feedback efficiency is high, the service life of a vehicle-mounted storage battery can be effectively prolonged, parameters of a semi-active suspension can be duly adjusted, and then the semi-active suspension is in an optimal vibration reduction state.

Description

Vehicle Semi-active Suspension System with vibration energy regeneration function and its control method
Technical field
The invention belongs to automobile suspension system technical field, and in particular to a kind of vehicle with vibration energy regeneration function half Active suspension system and its control method.
Background technology
Due to the uneven and engine etc. on road surface, the vibration of itself causes automobile spring charge material to automobile during traveling Relative displacement is produced between amount and nonspring carried mass, so as to cause automobile to produce vibration.Traditional suspension adopts rigidity not mostly The constant damper of the spring and damped coefficient of change constitutes the core component of automobile suspension system, but the rigidity due to spring and resistance The damped coefficient of Buddhist nun's device can not make change in real time, therefore traditional suspension road surface adaptability according to the not flat characteristic on road surface Difference, effectiveness in vibration suppression is not obvious, therefore the automobile ride and control stability of this suspension all can be affected by certain.Simultaneously Although Active suspension general, Active suspension most complex structure better than semi-active suspension in terms of effectiveness in vibration suppression, energy consumption is big, into This height.The Chinese patent of such as Application No. 201010108889.7 discloses a kind of electrohydraulic energy-regenerative type shock absorber, the liquid electricity feedback Energy formula shock absorber includes hydraulic circuit, operating room and piston, and the operating room is divided into pistons work chamber and energy storage power generation by dividing plate Chamber two parts, wherein:Piston is located in pistons work chamber, and it passes through piston push rod and is connected with the upper installation pedestal of outside；Hydraulic pressure Motor is located in energy storage power generation chamber, and it passes through power transmission shaft and is connected with the rotary generator of outside；Accumulator is located at energy storage power generation chamber In, it is located at dividing plate lower section；Hydraulic circuit constitutes hydraulic pressure rectifier bridge with multiple check valves, and hydraulic circuit is adopted to be arranged outside piston External pipeline or by plunger designs into interior exocoel form.The electrohydraulic energy-regenerative type shock absorber complex structure, processing cost are big, energy Consume big, energy regenerative effect bad,
Therefore invent it is a can either reach or close Active suspension effectiveness in vibration suppression, while simple structure, energy consumption be little, cost Low suspension is extremely urgent.
Semi-active suspension can be the driving cycle and real-time pavement characteristics according to automobile, and by sensor road is gathered Surface information, controller is calculated by sensor signal using the control algolithm downloaded in advance, so that suspension system With optimum damping force so that the ride comfort and control stability of automobile is in optimum state, it can reach or be close to master Simultaneously energy consumption will therefore suffer from extensive accreditation to the effectiveness in vibration suppression of dynamic suspension much smaller than Active suspension, but at present great majority half are main Dynamic suspension all cannot carry out energy regenerating, complex structure, high cost, ambient adaptability it is poor, while also needing to consume a large amount of automobiles Energy.The Chinese patent of such as Application No. 201110232851.5 discloses a kind of Magnetic-Rheology Absorber of Automotive Suspension System, The shock absorber includes cylinder body, piston rod, electromagnetic piston and floating piston, and the shock absorber is flow through by magnetic flow liquid and is arranged at electromagnetism The damping force produced by magnetic flow liquid passage on piston reaches effectiveness in vibration suppression making vibration decay.The semi-active suspension vibration damping Although device can realize the function of half active but its complex structure is difficult to produce and be not easy to safeguard, while production cost is high, need Consume vehicle self-energy.
In the last few years due to the scarcity of resource, and the environmental problem such as the pollution of air so that people are for energy problem Increasingly pay attention to, the mankind seek various methods and improve energy utilization rates, automobile be the indispensable vehicles of modern society it One, however the capacity usage ratio of automobile be but it is very low, the energy of engine typically only less than 40 percent, most of energy Amount is dissipated in an atmosphere in the form of heat energy, and the braking of automobile also can dissipate part energy, while the vibration of automobile is automobile Vibrational energy is converted to heat energy and is finally consumed by inevitable problem during traveling, orthodox car suspension by shock absorber mostly In being scattered to air, therefore the substantial amounts of energy of automobile is consumed, therefore over the years for the recovery of automobile vibrational energy is always One focus and difficulties of domestic and international academia.
At present the control algolithm of most of controllable suspension control systems adopts some relatively simple algorithms, various calculations mostly Method has respective advantage colleague to there is also respective shortcoming, and such as skyhook control algorithm can be good at improving vehicle wheel movement of the foetus Load and suspension dynamic deflection but undesirable to the improvement of vehicle body acceleration, canopy control in ground can be good at improving vehicle body acceleration Spend but little is improved to suspension dynamic deflection, although fuzzy control can consider vehicle body acceleration, suspension dynamic deflection and wheel Movement of the foetus load but its precise requirements to suspension system Mathematical Modeling is very high, while fuzzy control needs constantly accumulation and complete Kind fuzzy control rule, thus it is single use certain algorithm all to cause control system not perfect enough, while automobile suspension system It is a system very high to requirement of real-time, but most of single control rules are unable to reach reduction or eliminate control system The requirement of system time lag, but it includes many time lag links for Trend in Controlled Suspension System of Vehicles, for example：Sensor collection letter The time lag of number process；Signal is sent to the time lag of controller by sensor；The time lag that controller is calculated；Control signal is by controller It is sent to the time lag of hydraulic cylinder；The time lag of hydraulic cylinder action；Hydraulic cylinder sets up time lag produced by control etc..Time lag not only can shadow Ringing the performance of suspension system, and also can result in serious " wheel is jumped " phenomenon causes suspension system unstability, so as to seriously threaten The security of automobile.
The content of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, there is provided a kind of band vibrational energy Amount reclaims the Vehicle Semi-active Suspension System of function, and it realizes convenient and low cost, job stability and reliability height, energy regenerative effect Rate is high, can effectively extend the service life of Vehicular accumulator cell, can in time adjust the parameter of semi-active suspension, makes half master Dynamic suspension is in optimal vibration damping state, practical.
To solve above-mentioned technical problem, the technical solution used in the present invention is：A kind of car with vibration energy regeneration function Semi-active suspension system, it is characterised in that：Including the damper and spring that are disposed side by side between vehicle frame and vehicle bridge, and control System processed and energy-recuperation system；
The damper includes hydraulic cylinder, hydraulic motor and direct current generator, and the hydraulic cylinder is set in parallel in car with spring Between frame and vehicle bridge, the two ends of the spring are connected respectively with vehicle frame and vehicle bridge, and the base of the hydraulic cylinder is connected with vehicle bridge, institute The piston rod for stating hydraulic cylinder is connected with vehicle frame, and the hydraulic cylinder is connected by fluid pressure line with hydraulic motor, the hydraulic motor Output shaft on be connected with the first power transmission shaft, oppositely arranged the first roll clutch and is installed on first power transmission shaft Two roll clutch, are fixedly connected with first bevel gear on first roll clutch, solid on second roll clutch Surely be connected with second bevel gear, be provided with below first power transmission shaft one end engage with first bevel gear, the other end and The third hand tap gear of two bevel gears engagement, is connected with second driving shaft, the triconodont on the input shaft of the direct current generator Wheel is fixedly connected on second driving shaft；
The control system includes suspension vibration controller, and the input of the suspension vibration controller is terminated with for liquid The stress of cylinder pressure carries out the force snesor of real-time detection, the spring carried mass for carrying out real-time detection to spring carried mass acceleration and adds Velocity sensor, the spring carried mass displacement transducer for carrying out real-time detection to spring carried mass displacement and for non-spring charge material Amount displacement carries out the nonspring carried mass displacement transducer of real-time detection, and the force snesor is arranged on the piston rod of hydraulic cylinder, The spring carried mass acceleration transducer and spring carried mass displacement transducer are installed on vehicle frame, the nonspring carried mass displacement Sensor is arranged in vehicle bridge, and the output of the suspension vibration controller is terminated with DC motor driver, the direct current generator It is connected with the output end of DC motor driver；
The energy-recuperation system includes the energy recovering circuit being connected with direct current generator and is connected with energy recovering circuit Super capacitor, the super capacitor is connected with Vehicular accumulator cell.
The above-mentioned Vehicle Semi-active Suspension System with vibration energy regeneration function, it is characterised in that：The hydraulic cylinder is Double acting hydraulic cylinder.
The above-mentioned Vehicle Semi-active Suspension System with vibration energy regeneration function, it is characterised in that：The hydraulic motor For gear-type hydraulic motor, vane motor or plunger hydraulic motor.
The above-mentioned Vehicle Semi-active Suspension System with vibration energy regeneration function, it is characterised in that：The first cone tooth Wheel is welded on the first roll clutch, and the second bevel gear is welded on the second roll clutch；First power transmission shaft It is connected with the output shaft of hydraulic motor by shaft coupling, the second driving shaft is connected by shaft coupling with the output shaft of direct current generator Connect, the third hand tap gear is welded on second driving shaft.
The above-mentioned Vehicle Semi-active Suspension System with vibration energy regeneration function, it is characterised in that：The energy regenerating Circuit is made up of the three-phase full wave rectifier circuit, booster circuit and equalizer circuit being sequentially connected；The super capacitor is by 6 models Super capacitor for 120F/2.7V is composed in series.
Present invention also offers a kind of can effectively solve the problem that requirement of the suspension system for real-time, conventional control is solved Control effect is only in method, time lag is serious, the band vibrational energy of the problem that " wheel is jumped " phenomenon often occurs in Jing is returned in vehicle traveling Receive the control method of the Vehicle Semi-active Suspension System of function, it is characterised in that the method is comprised the following steps：
Step I, force snesor carry out real-time detection to the stress of hydraulic cylinder, and spring carried mass acceleration transducer is to spring charge material Amount acceleration carries out real-time detection, and spring carried mass displacement transducer carries out real-time detection, nonspring carried mass to spring carried mass displacement Displacement transducer carries out real-time detection to nonspring carried mass displacement；Stress, spring carried mass of the suspension vibration controller to hydraulic cylinder Acceleration, spring carried mass displacement and nonspring carried mass displacement carry out periodic samples；
Step II, when running car is on uneven road surface, on the one hand, relative fortune can occur between the vehicle frame and vehicle bridge Dynamic, while being vertically connected with for the hydraulic cylinder a little also can occur relative displacement, now the hydraulic oil in hydraulic cylinder can be in hydraulic cylinder The pressure of piston it is dirty enter fluid pressure line, the hydraulic oil in the fluid pressure line can drive hydraulic motor to be rotated, described Hydraulic motor drives connected first drive axis, because the motion of hydraulic cylinder has compression and stretches therefore hydraulic tube The flow direction of the hydraulic oil in road is also different, and the rotation direction for ultimately resulting in hydraulic motor is different, when hydraulic motor it is counterclockwise The first roll clutch and the rotation of the second roll clutch, the first roll clutch and the second roll clutch band are driven during rotation Dynamic first bevel gear and second bevel gear are rotated, and so as to drive third hand tap gear to rotate, third hand tap gear drives second driving shaft Rotate, second driving shaft drives direct current generator to rotate and generated electricity, while third hand tap gear can also drive first bevel gear to rotate, But in the presence of the first roll clutch, first bevel gear simply dallies, while when hydraulic motor is rotated clockwise, first Power transmission shaft is also rotated clockwise, and now the first power transmission shaft drives the first roll clutch to rotate, and the first roll clutch drives the One bevel gear rotates, and first bevel gear drives third hand tap gear to rotate, and third hand tap gear drives second driving shaft to rotate, and second passes Moving axis drives direct current generator to rotate and is generated electricity, and in the process no matter hydraulic cylinder is in compressive state or extended state, directly All, the electricity that direct current generator sends is filled among super capacitor the rotation direction of stream motor through energy recovering circuit, super Electric energy in electric capacity is poured again in Vehicular accumulator cell, is completed for the recovery of suspension vibration energy；On the other hand, the suspension The spring charge material that vibrating controller is gathered according to the hybrid switch control method containing delay bounds to spring carried mass acceleration transducer Amount acceleration signal, the spring carried mass displacement signal of spring carried mass displacement transducer collection and nonspring carried mass displacement transducer are adopted The nonspring carried mass displacement signal of collection is analyzed process, obtains control signal, and obtains currently through Smith predictive compensation devices The critical Slack time of system, then by Smith predictive compensation devices in the unit that surmounts control signal is shifted to an earlier date into critical Slack time Motor driver is sent into, the control to direct current generator power generation torque is completed by motor driver, so as to control turning for direct current generator Speed, suppresses the rotation of hydraulic motor, so as to control the damping force of hydraulic cylinder, eliminates the time lag of system, and it is right to realize In the real-time control of suspension damping power, the purpose of semi-active suspension has been reached.
Above-mentioned method, it is characterised in that：Suspension vibration controller described in step II is according to the mixing containing delay bounds Spring carried mass acceleration signal, spring carried mass displacement transducer that method of controlling switch is gathered to spring carried mass acceleration transducer The spring carried mass displacement signal of collection and the nonspring carried mass displacement signal of nonspring carried mass displacement transducer collection are analyzed Process, obtain control signal, and the critical Slack time of current system is obtained through Smith predictive compensation devices, then it is pre- by Smith Control signal is shifted to an earlier date critical Slack time feeding motor driver by the unit that surmounts estimated in compensator, is completed by motor driver It is to the detailed process for controlling of direct current generator power generation torque：First, the hydraulic pressure that suspension vibration controller obtains i ＆ lt sampling Cylinder stress size FiWith set in advance by force threshold FeCompare, work as Fi＞ FeWhen, suspension vibration controller is using ground canopy control Strategy, i.e. suspension vibration controller are first according to formulaThe nonspring carried mass speed being calculated when i ＆ lt is sampled DegreeFurther according to formulaIt is calculated the nonspring carried mass speed of i ＆ lt samplingCorresponding ground canopy control Under damping forceThe control signal to motor driver is obtained, and through Smith predictive compensation devices according to formulaThe critical Slack time τ of current system is calculated, then by Smith predictive compensation devices The unit that surmounts control signal shifted to an earlier date into critical Slack time τ send into motor driver, completed to direct current by motor driver The control of machine power generation torque, makesRealize the semi- active control of the damper；Wherein,Obtain for i ＆ lt sampling Nonspring carried mass displacement,For the i-th -1 time nonspring carried mass displacement for obtaining of sampling, t is the time, CgDamp for the control of ground canopy Coefficient, value is 0～2500Ns/m, CsFor the base value damped coefficient of the suspension system；Work as Fi≤FeWhen, suspension vibration control The spring carried mass acceleration a that device processed again obtains i ＆ lt samplingiWith acceleration rate threshold a set in advanceeCompare, work as ai＞ ae When, suspension vibration controller adopts Skyhook control method, i.e. suspension vibration controller first according to formulaCalculate Obtain spring carried mass speed when i ＆ lt is sampledFurther according to formulaThe spring for being calculated i ＆ lt sampling is carried Mass velocityDamping force under corresponding capricorn bettleThe control signal to motor driver is obtained, and is passed through Smith predictive compensation devices are according to formulaIt is calculated the critical Slack time of current system τ ', then by Smith predictive compensation devices in the unit that surmounts control signal shifted to an earlier date into critical Slack time τ ' send into motor driver, Control to direct current generator power generation torque is completed by motor driver, is madeRealize that the half of the damper actively controls System；Wherein,For the i ＆ lt spring carried mass displacement that obtains of sampling,For the spring carried mass displacement that the i-th -1 time sampling is obtained, t For time, CskyFor capricorn bettle damped coefficient, value is 0～2500Ns/m,；Work as ai≤aeWhen, the suspension vibration control Device samples the spring carried mass displacement signal that obtains using the method for fuzzy control to it and nonspring carried mass displacement signal is carried out point Analysis is processed so as to realize the semi- active control of suspension system.
Above-mentioned method, it is characterised in that：Work as ai≤aeWhen, the method that the suspension vibration controller adopts fuzzy control Sample the spring carried mass displacement signal that obtains to it and nonspring carried mass displacement signal is analyzed process so as to realize suspension system The detailed process of the semi- active control of system is：
Step one, suspension vibration controller are according to formulaThe spring carried mass position that its i ＆ lt sampling is obtained Shifting signalWith nonspring carried mass displacement signalDiffer from, obtain the displacement of system spring carried mass and non-spring charge material when i ＆ lt is sampled Deviation e of amount displacementi；Wherein, the value of i is natural number；
Step 2, suspension vibration controller are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with it is non- Deviation e of spring carried mass displacementiDerivation, obtains system spring carried mass displacement when i ＆ lt is sampled inclined with nonspring carried mass displacement Difference eiWith the rate of change of time t
Step 3, suspension vibration controller are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiQuantified, obtained deviation eiQuantization amount Ei；Wherein,System spring when sampling for i ＆ lt Mounted mass displacement and deviation e of nonspring carried mass displacementiQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| during ＜ 0.02,When i ＞ 1 and 0.02≤| ei| when≤0.04,As i ＞ 1 and | ei| during ＞ 0.04,Deviation eiQuantization amount EiDomain For [- 6,6]；
Step 4, suspension vibration controller are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiWith the rate of change of time tQuantified, obtained deviation eiWith the rate of change of time t's Quantization amountWherein,Deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when sampling for i ＆ ltiWith time t Rate of changeQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 andWhen,As i ＞ 1 andWhen,As i ＞ 1 andWhen,Deviation eiWith the rate of change of time tQuantization amountDomain be [- 6,6]；
Step 5, suspension vibration controller are to deviation eiQuantization amount EiInteger is carried out according to the method for rounding up, is obtained To deviation eiQuantization amount EiInteger resultAnd by deviation eiQuantization amount EiInteger resultAs Fuzzy Control First input E ' of systemi；
Step 6, suspension vibration controller are to deviation eiWith the rate of change of time tQuantization amountAccording to rounding up Method carry out integer, obtain deviation eiWith the rate of change of time tQuantization amountInteger resultAs fuzzy Second input of control
Step 7, suspension vibration controller are according to first of fuzzy control input E 'iIt is defeated with the second of fuzzy control EnterInquiry is stored in fuzzy by make that suspension vibration controller pre-establishes in suspension vibration controller internal storage Control query table, obtains the output Γ of fuzzy controli；
Step 8, suspension vibration controller are according to formulaOutput Γ to fuzzy controliIt is adjusted, obtains Direct current generator outer meeting resistance value R is controlled to suspension vibration controlleri；Wherein,It is the output Γ to fuzzy controliIt is adjusted Scale factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| ＜ 0.02 or When,When i ＞ 1 and 0.02≤| ei|≤0.04 orWhen,As i ＞ 1 and | ei| ＞ 0.04 orWhen,
Above-mentioned method, it is characterised in that：Suspension vibration controller described in step 7 pre-establishes fuzzy control inquiry The process of table is：
Step 701, spring carried mass displacement transducer carry out real-time detection to spring carried mass displacement, and nonspring carried mass displacement is passed Sensor carries out real-time detection, the spring that suspension vibration controller is detected to spring carried mass displacement transducer to nonspring carried mass displacement The nonspring carried mass displacement signal that mounted mass displacement signal and nonspring carried mass displacement transducer are detected carries out periodic samples；
Step 702, suspension vibration controller are according to formulaThe spring carried mass position that its i ＆ lt sampling is obtained Shifting signalWith nonspring carried mass displacement signalDiffer from, obtain the displacement of system spring carried mass and non-spring charge material when i ＆ lt is sampled Deviation e of amount displacementi；Wherein, the value of i is non-zero natural number；
Step 703, suspension vibration controller are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with it is non- Deviation e of spring carried mass displacementiDerivation, obtains system spring carried mass displacement when i ＆ lt is sampled inclined with nonspring carried mass displacement Difference eiWith the rate of change of time t
Step 704, suspension vibration controller are according to formulaSystem spring carried mass displacement when sampling to i ＆ lt With deviation e of nonspring carried mass displacementiQuantified, obtained deviation eiQuantization amount Ei；Wherein,System when sampling for i ＆ lt Spring carried mass displacement and deviation e of nonspring carried mass displacementiQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| during ＜ 0.02,When i ＞ 1 and 0.02≤| ei| when≤0.04,As i ＞ 1 and ei| during ＞ 0.04,Deviation eiQuantization amount EiDomain be [-6,6]；
Step 705, suspension vibration controller are according to formulaSystem spring carried mass displacement when sampling to i ＆ lt With deviation e of nonspring carried mass displacementiWith the rate of change of time tQuantified, obtained deviation eiWith the rate of change of time t Quantization amountWherein,Deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when sampling for i ＆ ltiAt any time Between t rate of changeQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 andWhen,As i ＞ 1 andWhen,As i ＞ 1 andWhen,Deviation eiWith the rate of change of time tQuantization amountDomain be [- 6,6]；
Step 706, suspension vibration controller are to deviation eiQuantization amount EiFuzzy processing is carried out, its detailed process is as follows：
Step 7061, definition deviation eiQuantization amount EiFringe collection be combined into honest, center, it is just little, zero, it is negative it is little, In negative, bear greatly }；
Step 7062, suspension vibration controller are according to deviation eiQuantization amount EiTriangular membershipIt is calculated deviation eiQuantization amount EiThe person in servitude of corresponding fringe Category angle value trimf (Ei,a1,b1,c1), and according to maximum membership grade principle determination deviation eiQuantization amount EiCorresponding fuzzy shape State, and when deviation eiQuantization amount EiUnder two kinds of different fringes it is corresponding be subordinate to angle value it is equal when, choose be less than deviation eiQuantization amount EiThe corresponding fringe of data be deviation eiQuantization amount EiCorresponding fringe；Wherein, a1For deviation eiQuantization amount EiThe left summit of the corresponding triangle base of triangular membership abscissa, b1For deviation eiQuantization amount Ei The right summit of the corresponding triangle base of triangular membership abscissa, c1For deviation eiQuantization amount EiTriangle be subordinate to The abscissa on the corresponding triangular-shaped upper portion summit of membership fuction；When fringe is honest, a1=4, b1=6, c1=8；When fuzzy When state is to hit exactly, a1=2, b1=4, c1=6；When fringe be positive hour, a1=0, b1=2, c1=4；Work as fringe When being zero, a1=-2, b1=0, c1=2；When fringe is negative hour, a1=-4, b1=-2, c1=0；When fringe is negative When middle, a1=-6, b1=-4, c1=-2；When fringe is to bear big, a1=-8, b1=-6, c1=-4；
Step 707, suspension vibration controller are to deviation eiWith the rate of change of time tQuantization amountCarry out at obfuscation Reason, its detailed process is as follows：
Step 7071, definition deviation eiWith the rate of change of time tQuantization amountFringe collection be combined into it is { honest, just In, it is just little, zero, it is negative it is little, negative in, it is negative big；
Step 7072, suspension vibration controller are according to deviation eiWith the rate of change of time tQuantization amountTriangle Membership functionIt is calculated deviation eiWith the rate of change of time t Quantization amountCorresponding fringe is subordinate to angle valueAnd determined according to maximum membership grade principle inclined Difference eiWith the rate of change of time tQuantization amountCorresponding fringe, and when deviation eiWith the rate of change of time tAmount Change amountUnder two kinds of different fringes it is corresponding be subordinate to angle value it is equal when, choose be less than deviation eiWith the change of time t RateQuantization amountThe corresponding fringe of data be deviation eiWith the rate of change of time tQuantization amountCorresponding mould Paste state；Wherein, a2For deviation eiWith the rate of change of time tQuantization amountThe corresponding triangle of triangular membership The abscissa on the left summit in base, b2For deviation eiWith the rate of change of time tQuantization amountTriangular membership it is corresponding The abscissa on the right summit of triangle base, c2For deviation eiWith the rate of change of time tQuantization amountTriangular membership The abscissa on corresponding triangular-shaped upper portion summit；When fringe is honest, a2=4, b2=6, c2=8；When fringe is During center, a2=2, b2=4, c2=6；When fringe be positive hour, a2=0, b2=2, c2=4；When fringe is zero, a2=-2, b2=0, c2=2；When fringe is negative hour, a2=-4, b2=-2, c2=0；When fringe is in bearing, a2 =-6, b2=-4, c2=-2；When fringe is to bear big, a2=-8, b2=-6, c2=-4；
Step 708, the output Γ of ambiguity in definition controliFringe collection be combined into honest, center, it is just little, zero, it is negative it is little, In negative, bear greatly, fuzzy control is formulated according to deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the change of time t RateQuantization amountCorresponding fringe obtains the output Γ of fuzzy controliFringe fuzzy control rule, and root Determine the output Γ of fuzzy control according to the fuzzy control ruleiFringe；
Wherein, the fuzzy control rule is：
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The respectively negative big and negative big or negative neutralization of the fringe answered is negative big or negative little and negative big or zero-sum is negative big or negative big and negative In or during negative neutralization is negative or when negative little and negative middle, the output Γ of fuzzy control is honest；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorrespondence The respectively negative big and negative little or negative neutralization of fringe it is negative little or bear little and negative little or zero-sum bear it is little or negative big and when zero, The output Γ of fuzzy control is center；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The respectively negative neutralization zero of the fringe answered or the negative little and zero or negative big and just little or positive hour of negative neutralization, fuzzy control Output Γ is just little；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The fringe answered respectively just neutralizing it is negative big or honest and negative big or just neutralizing bear in or just little and negative little or zero-sum zero, Or when negative big and center or negative neutralization center or honest negative big and honest or negative neutralization, the output Γ of fuzzy control is zero；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The fringe answered be respectively it is honest and negative in or just neutralizing negative little or honest and negative little or just little and when zero, fuzzy control Output Γ be negative little；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The fringe answered respectively just neutralizing zero or honest and zero or zero-sum it is just little or just little and just little or just neutralizing it is just little or Honest and just little or negative little and center or just little and center, or when negative little and honest, during the output Γ of fuzzy control is negative；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The fringe answered be respectively zero-sum center or just neutralizing center or it is honest and center or zero-sum it is honest or just little and honest, Or when just neutralizing honest or honest and honest, the output Γ of fuzzy control is negative big；
Step 709, the output Γ to the fuzzy controliFringe carry out anti fuzzy method process, its detailed process For：
The domain of the output Γ that step 7091, ambiguity in definition are controlled is [- 7,7]；
The output Γ of step 7092, suspension vibration controller according to fuzzy controliTriangular membershipIt is calculated the output Γ of fuzzy controliEach fringe Each integer is corresponding in the domain [- 7,7] of the output Γ of lower fuzzy control is subordinate to angle value) and will The corresponding maximum being subordinate in angle value of each integer in the domain [- 7,7] of the output Γ of fuzzy control under certain fringe The output Γ of corresponding fuzzy controliValue be defined as the output Γ of the fuzzy controliThe result of anti fuzzy method；Wherein, a3 For the output Γ of fuzzy controliThe left summit of the corresponding triangle base of triangular membership abscissa, b3For fuzzy control Output ΓiThe right summit of the corresponding triangle base of triangular membership abscissa, c3For the output Γ of fuzzy controli The corresponding triangular-shaped upper portion summit of triangular membership abscissa；When fringe is honest, a3=5, b3=7, c3 =9；When fringe is to hit exactly, a3=3, b3=5, c3=7；When fringe be positive hour, a3=0, b3=3, c3=5； When fringe is zero, a3=-3, b3=0, c3=2；When fringe is negative hour, a3=-5, b3=-2, c3=0；Work as mould When paste state is in bearing, a3=-7, b3=-5, c3=-3；When fringe is to bear big, a3=-9, b3=-7, c3=-5；
Step 7010, repeat step 701 arrive step 709, until obtaining deviation eiQuantization amount EiDomain [- 6,6] in 13 integers and deviation eiWith the rate of change of time tQuantization amountDomain [- 6,6] in 169 kinds of 13 integers combinations With the output Γ of the fuzzy controliThe one-to-one relationship of the result of anti fuzzy method；
Step 7011, by deviation eiQuantization amount EiDomain [- 6,6] in 13 integers and deviation eiWith the change of time t RateQuantization amountDomain [- 6,6] in 169 kinds of 13 integers combinations and the fuzzy control output ΓiReverse The one-to-one relationship of the result of gelatinization is formulated to fuzzy polling list.
Above-mentioned method, it is characterised in that：Fuzzy polling list table described in step 7011 describe in words for：
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and -6, Or -6 and -4, or -6 and -2, or -6 and -1, or -6 and 0, or -4 and -6, or -4 and -4, or -4 and -2, or -4 and -1, or -4 and 0, or when -3 and -6, export ΓiThe result of anti fuzzy method is 7；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and -5, Or -6 and -3, or -5 and -6, or -5 and -5, or -5 and -4, or -5 and -3, or -5 and -2, or -5 and -1, or -5 and 0, or -4 During with -5, or -4 and -3, or -3 and -5, or -3 and -4, or -3 and -3, or -3 and -2, or -3 and -1, or -3 and 0, Γ is exportedi The result of anti fuzzy method is 6；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -2 and -3, Or -1 and -3, or when 0 and -3, export ΓiThe result of anti fuzzy method is 5；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and 1, Or -5 and 1, or -4 and 1, or -6 and 2, or -5 and 2, or -4 and 2, or -2 and -6, or -1 and -6, or 0 and -6, or -2 and -5, Or -1 and -5, or 0 and -5, or -2 and -4, or -1 and -4, or 0 and -4, or -1 and -5, or -2 and -2, or -1 and -2, or -2 and - 1, or -1 and -1, or when -2 and 0, export ΓiThe result of anti fuzzy method is 4；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -3 and 1 when, Output ΓiThe result of anti fuzzy method is 3；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 1 and -6, Or 1 and -5, or 2 and -5, or 1 and -4, or 1 and -3, or 2 and -3, or -3 and 2, or -6 and 3, or -5 and 3, or when -4 and 3, it is defeated Go out ΓiThe result of anti fuzzy method is 2；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 2 and -6, Or 2 and -4, or 0 and -2, or 0 and -1, or -1 and 0, or -2 and 1, or when 2 and -3, export ΓiThe result of anti fuzzy method is 1；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and -6, or 4 and -6, or 5 and -6, or 6 and -6, or 3 and -5, or 4 and -5, or 5 and -5, or 6 and -5, or 3 and -4, or 4 and -4, or 6 and - 4, or 3 and -3, or 1 and -2, or 2 and -2, or 3 and -4, or 1 and -1, or -2 and 2, or -1 and 2, or -3 and 3, or -2 and 3, or - 1 and 3, or -6 and 4, or -5 and 4, or -4 and 4, or -6 and 5, or -5 and 5, or -4 and 5, or -6 and 6, or -5 and 6, or -4 and 6 When, export ΓiThe result of anti fuzzy method is 0；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 1 and 0, or 0 and 1, or 0 and 2, or 0 and 3, or -3 and 4, or -2 and 4, or -3 and 5, or -2 and 5, or -3 and 6, or -2 and 6, or when -1 and 6, Output ΓiThe result of anti fuzzy method is -1；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and -3, Or 5 and -3, or 6 and -3, or when -1 and 5, export ΓiThe result of anti fuzzy method is -2；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and -2, Or 2 and -1, or 3 and -1, or 1 and 3, or 2 and 3, or when -1 and 4, export ΓiThe result of anti fuzzy method is -3；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and -2, or 5 and -2, or 6 and -2, or 4 and -1, or 5 and -1, or 6 and -1, or 2 and 0, or 1 and 1, or 2 and 1, or 1 and 2, or 2 and 2, or 0 During with 4, or 1 and 4, or 2 and 4, or 0 and 5, or 1 and 5, or 2 and 5, or 0 and 6, or 1 and 6, or 2 and 6, Γ is exportediAnti fuzzy method Result be -4；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and 0, or 5 and 0, or 3 and 1, or 5 and 1, or 3 and 2, or 5 and 2, or 3 and 3, or 4 and 3, or 5 and 3, or 6 and 3, or 3 and 4, or 5 and 4, or 3 and 5, or 4 and 5, or 5 and 5, or 6 and 5, or 3 and 6, or when 5 and 6, export ΓiThe result of anti fuzzy method is -6；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and 0, or 6 and 0, or 4 and 1, or 6 and 1, or 4 and 2, or 6 and 2, or 4 and 4, or 6 and 4, or 4 and 6, or when 6 and 6, export ΓiAnti-fuzzy The result of change is -7.
The present invention has compared with prior art advantages below：
1st, the simple structure of the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention, conjunction novel in design Reason, realization are convenient and with low cost.
2nd, the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention has the energy of vibration energy regeneration Power, can by a relatively large margin improve the energy utilization efficiency of vehicle.
3rd, the characteristics of Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention has damping controllable, institute The suspension vibration controller for stating the Vehicle Semi-active Suspension System with vibration energy regeneration function can be real-time according to pavement characteristics The load of adjustment direct current generator, so as to change the damping force of the Vehicle Semi-active Suspension with energy regenerating characteristic, The characteristic of semi-active suspension is realized, so as to the ride comfort and control stability of vehicle is greatly improved.
4th, the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention is being reclaimed to vibrational energy During, direct current generator remains one-directional rotation, so as to improve the vehicle with energy regenerating characteristic half actively The vibration energy regeneration efficiency of suspension.
5th, the Vehicle Semi-active Suspension System job stability with vibration energy regeneration function of the invention and reliability are high, Failure is not susceptible to, without the need for the normal maintenance and repairs of Jing.
6th, the energy-recuperation system of the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention includes energy Amount recovery circuit, super capacitor and Vehicular accumulator cell, wherein energy recovering circuit includes booster circuit and rectification circuit, surpasses Level electric capacity is super capacitor group, therefore the energy regenerating speed of the described Vehicle Semi-active Suspension with energy regenerating characteristic is fast And time efficiency high.
6th, the control method of the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention is containing time lag The hybrid switch control method of control, this control method combine Skyhook control method, canopy control strategy, fuzzy control plan Slightly, the advantage of switch control rule and Smith Predictive Compensation Controls, comprehensive can increase substantially the combination property of vehicle, energy Enough effectively solving suspension systems for the requirement of real-time, solve in conventional control methods control effect only, time lag it is serious, Often there is the problem of " wheel is jumped " phenomenon in Jing in vehicle traveling.
6th, the present invention in,WithObtaining value method can either ensure the fast of Vehicle Semi-active Suspension control method Speed and stability, can avoid producing overshoot again, and the control method for making Vehicle Semi-active Suspension enters as early as possible stable state accuracy model Enclose so that the control method of the Vehicle Semi-active Suspension has certain adaptive ability and preferable robustness, it is ensured that car Semi-active suspension has good dynamic and stability precision, and the effect of control is good.
7th, the control method of Vehicle Semi-active Suspension of the invention, pre-establishes fuzzy polling list, and by Fuzzy Control Inquiry table processed is stored in the internal storage of suspension vibration controller, then Vehicle Semi-active Suspension is controlled every time, Only need to be by inquiring about fuzzy polling list, you can according to the input of fuzzy control, exported, improve control efficiency.
8th, the present invention's is practical, and using effect is good, is easy to promote the use of.
In sum, the present invention realizes convenient and low cost, job stability and reliability height, and energy regenerative efficiency high can Effectively extend the service life of Vehicular accumulator cell, can in time adjust the parameter of semi-active suspension, make at semi-active suspension It is practical in optimal vibration damping state.
Below by drawings and Examples, technical scheme is described in further detail.
Description of the drawings
Fig. 1 is the structural representation of the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention.
Fig. 2 is the circuit connecting relation schematic diagram of suspension vibration controller of the present invention and other each several parts.
Specific embodiment
As depicted in figs. 1 and 2, the Vehicle Semi-active Suspension System with vibration energy regeneration function of the invention, including simultaneously Row is arranged on damper and spring 3 between vehicle frame 1 and vehicle bridge 6, and control system and energy-recuperation system；
The damper includes hydraulic cylinder 25, hydraulic motor 21 and direct current generator 11, and the hydraulic cylinder 25 is parallel with spring 3 It is arranged between vehicle frame 1 and vehicle bridge 6, the two ends of the spring 3 are connected respectively with vehicle frame 1 and vehicle bridge 6, the bottom of the hydraulic cylinder 25 Seat is connected with vehicle bridge 6, and the piston rod of the hydraulic cylinder 25 is connected with vehicle frame 1, and the hydraulic cylinder 25 is by fluid pressure line 24 and liquid Pressure motor 21 connects, and the first power transmission shaft 22 is connected with the output shaft of the hydraulic motor 21, pacifies on first power transmission shaft 22 It is fixed on first roll clutch 15 to connect equipped with oppositely arranged the first roll clutch 15 and the second roll clutch 18 First bevel gear 17 is connected to, second bevel gear 19, first power transmission shaft are fixedly connected with second roll clutch 18 22 lower section is provided with the third hand tap gear 14 that one end is engaged with first bevel gear 17, the other end is engaged with second bevel gear 19, Second driving shaft 12 is connected with the input shaft of the direct current generator 11, the third hand tap gear 14 is fixedly connected on the second transmission On axle 12；When being embodied as, the bottom of the vehicle bridge 6 is provided with wheel 4, the first bevel gear 17, the and of second bevel gear 19 Third hand tap gear 14 is arranged in shell 13, is provided with the shell 13 for installing the first axle for supporting the first power transmission shaft 22 Hold 16 and second bearing 20；
The control system includes suspension vibration controller 7, and the input of the suspension vibration controller 7 is terminated with for right The stress of hydraulic cylinder 25 carries out the force snesor 26 of real-time detection, the spring for carrying out real-time detection to spring carried mass acceleration and carries Mass acceleration sensor 27, the spring carried mass displacement transducer 2 for carrying out real-time detection to spring carried mass displacement and it is used for The nonspring carried mass displacement transducer 5 of real-time detection is carried out to nonspring carried mass displacement, the force snesor 26 is arranged on hydraulic pressure On the piston rod of cylinder 25, the spring carried mass acceleration transducer 27 and spring carried mass displacement transducer 2 are installed in vehicle frame 1 On, the nonspring carried mass displacement transducer 5 is arranged in vehicle bridge 6, and the output of the suspension vibration controller 7 is terminated with direct current Motor driver 23, the direct current generator 11 is connected with the output end of DC motor driver 23；
The energy-recuperation system include the energy recovering circuit 8 being connected with direct current generator 11 and with energy recovering circuit 8 The super capacitor 9 of connection, the super capacitor 9 is connected with Vehicular accumulator cell 10.
In the present embodiment, the hydraulic cylinder 25 is double acting hydraulic cylinder.
In the present embodiment, the hydraulic motor 21 is gear-type hydraulic motor, vane motor or plunger hydraulic Motor.
In the present embodiment, the first bevel gear 17 is welded on the first roll clutch 15, the second bevel gear 19 It is welded on the second roll clutch 18；First power transmission shaft 22 is connected by shaft coupling with the output shaft of hydraulic motor 21, The second driving shaft 12 is connected by shaft coupling with the output shaft of direct current generator 11, and the third hand tap gear 14 is welded on second On power transmission shaft 12.
In the present embodiment, the energy recovering circuit 8 is by the three-phase full wave rectifier circuit, booster circuit being sequentially connected and Volt circuit is constituted；The super capacitor 9 is composed in series by the super capacitor of 6 models 120F/2.7V.
The control method of the Vehicle Semi-active Suspension System with vibration energy regeneration function of the present invention, including following step Suddenly：
Step I, force snesor 26 carry out real-time detection to the stress of hydraulic cylinder, and spring carried mass acceleration transducer 27 is to spring Mounted mass acceleration carries out real-time detection, and spring carried mass displacement transducer 2 carries out real-time detection to spring carried mass displacement, and non-spring is carried Mass shift sensor 5 carries out real-time detection to nonspring carried mass displacement；Suspension vibration controller 7 to the stress of hydraulic cylinder 25, Spring carried mass acceleration, spring carried mass displacement and nonspring carried mass displacement carry out periodic samples；When being embodied as, the sampling Cycle is 0.25s～1s；
Step II, when running car is on uneven road surface, on the one hand, can occur between the vehicle frame 1 and vehicle bridge 6 relative Motion, while being vertically connected with for the hydraulic cylinder 25 a little also can occur relative displacement, now the hydraulic oil in hydraulic cylinder 25 can be The pressure of hydraulic cylinder piston it is dirty enter fluid pressure line 24, the hydraulic oil in the fluid pressure line 24 can drive hydraulic motor 21 to enter Row is rotated, and the hydraulic motor 21 drives connected first power transmission shaft 22 to rotate, because the motion of hydraulic cylinder 25 has pressure The flow direction of contracting and stretching therefore the hydraulic oil in fluid pressure line is also different, ultimately results in the rotation direction of hydraulic motor 21 not Together, the first roll clutch 15 and the second roll clutch 18 is driven to rotate when hydraulic motor 21 is rotated counterclockwise, the first rolling 15 and second roll clutch of sub- clutch 18 drives first bevel gear 17 and second bevel gear 19 to rotate, so as to drive third hand tap Gear 14 is rotated, third hand tap gear 14 drive second driving shaft 12 rotate, second driving shaft 12 drive direct current generator 11 rotate into Row generates electricity, while third hand tap gear 14 can also drive first bevel gear 17 to rotate, but in the presence of the first roll clutch 15, First bevel gear 17 simply dallies, while when hydraulic motor 21 is rotated clockwise, the first power transmission shaft 22 is also rotated clockwise, this When the first power transmission shaft 22 drive the first roll clutch 15 rotate, the first roll clutch 15 drive first bevel gear 17 rotate, First bevel gear 17 drives third hand tap gear 14 to rotate, and third hand tap gear 14 drives second driving shaft 12 to rotate, second driving shaft 12 drive direct current generators 11 are rotated and generated electricity, and in the process no matter hydraulic cylinder 25 is in compressive state or extended state, All, therefore the energy recovery efficiency of direct current generator 11 has obtained effective raising to the rotation direction of direct current generator 11；Direct current The electricity that motor 11 sends is filled among super capacitor 9 through energy recovering circuit 8, and the electric energy in super capacitor 9 pours again vehicle-mounted In battery 10, complete for the recovery of suspension vibration energy；On the other hand, when the suspension vibration controller 7 is according to containing Spring carried mass acceleration signal, spring load that the hybrid switch control method of stagnant control is gathered to spring carried mass acceleration transducer 27 The spring carried mass displacement signal of the collection of mass shift sensor 2 and the nonspring carried mass of the collection of nonspring carried mass displacement transducer 5 Displacement signal is analyzed process, obtains control signal, and obtains the critical time lag of current system through Smith predictive compensation devices Time, then by Smith predictive compensation devices in the unit that surmounts control signal shifted to an earlier date into critical Slack time send into motor driver 23, the control to the power generation torque of direct current generator 11 is completed by motor driver 23, so as to control the rotating speed of direct current generator 11, suppress The rotation of hydraulic motor 21, so as to control the damping force of hydraulic cylinder 25, eliminates the time lag of system, realizes for outstanding The real-time control of frame system damping power, has reached the purpose of semi-active suspension.
In the present embodiment, suspension vibration controller described in step II 7 is according to the hybrid switch controlling party containing delay bounds Spring carried mass acceleration signal that method is gathered to spring carried mass acceleration transducer 27, spring carried mass displacement transducer 2 collection Spring carried mass displacement signal and the nonspring carried mass displacement signal of the collection of nonspring carried mass displacement transducer 5 are analyzed process, Control signal is obtained, and the critical Slack time of current system is obtained through Smith predictive compensation devices, then benefit is estimated by Smith Control signal is shifted to an earlier date critical Slack time feeding motor driver 23 by the unit that surmounts repaid in device, is completed by motor driver 23 It is to the detailed process for controlling of the power generation torque of direct current generator 11：First, suspension vibration controller 7 obtains i ＆ lt sampling Stress size F of hydraulic cylinder 25iWith set in advance by force threshold FeCompare, work as Fi＞ FeWhen, suspension vibration controller 7 is adopted Ground canopy control strategy, i.e., suspension vibration controller 7 is first according to formulaThe non-spring being calculated when i ＆ lt is sampled Mounted mass speedFurther according to formulaIt is calculated the nonspring carried mass speed of i ＆ lt samplingCorresponding Damping force under ground canopy controlThe control signal to motor driver 23 is obtained, and through Smith predictive compensation devices according to public affairs FormulaThe critical Slack time τ of current system is calculated, then by Smith predictive compensation devices In the unit that surmounts control signal shifted to an earlier date into critical Slack time τ send into motor driver 23, complete right by motor driver 23 The control of the power generation torque of direct current generator 11, makesRealize the semi- active control of the damper 25；Wherein,For i ＆ lt The nonspring carried mass displacement that sampling is obtained,For the i-th -1 time nonspring carried mass displacement for obtaining of sampling, t is the time, CgFor ground Canopy controls damped coefficient, and value is 0～2500Ns/m, CsFor the base value damped coefficient of the suspension system；Work as Fi≤FeWhen, The spring carried mass acceleration a that suspension vibration controller 7 again obtains i ＆ lt samplingiWith acceleration rate threshold a set in advanceeCompare Compared with working as ai＞ aeWhen, suspension vibration controller 7 adopts Skyhook control method, i.e., suspension vibration controller 7 is first according to formulaThe spring carried mass speed being calculated when i ＆ lt is sampledFurther according to formulaCalculate To the spring carried mass speed of i ＆ lt samplingDamping force under corresponding capricorn bettleObtain to motor driver 23 Control signal, and through Smith predictive compensation devices according to formulaIt is calculated current system System critical Slack time τ ', then by Smith predictive compensation devices in the unit that surmounts control signal is shifted to an earlier date into critical Slack time τ ' sends into motor driver 23, and by motor driver 23 control to the power generation torque of direct current generator 11 is completed, and makesIt is real The semi- active control of the existing damper 25；Wherein,For the i ＆ lt spring carried mass displacement that obtains of sampling,For the i-th -1 time The spring carried mass displacement that obtains of sampling, t is the time, CskyFor capricorn bettle damped coefficient, value is 0～2500Ns/m,；When ai≤aeWhen, the suspension vibration controller 7 it is sampled using the method for fuzzy control the spring carried mass displacement signal that obtains and Nonspring carried mass displacement signal is analyzed and processes so as to realize the semi- active control of suspension system.
In the present embodiment, work as ai≤aeWhen, the suspension vibration controller 7 is sampled using the method for fuzzy control to it To spring carried mass displacement signal and nonspring carried mass displacement signal be analyzed and process so as to realize the half of suspension system actively The detailed process for controlling is：
Step one, suspension vibration controller 7 are according to formulaThe spring carried mass position that its i ＆ lt sampling is obtained Shifting signalWith nonspring carried mass displacement signalDiffer from, obtain the displacement of system spring carried mass and non-spring charge material when i ＆ lt is sampled Deviation e of amount displacementi；Wherein, the value of i is natural number；
Step 2, suspension vibration controller 7 are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with it is non- Deviation e of spring carried mass displacementiDerivation, obtains system spring carried mass displacement when i ＆ lt is sampled inclined with nonspring carried mass displacement Difference eiWith the rate of change of time t
Step 3, suspension vibration controller 7 are according to formulaSystem spring carried mass displacement when sampling to i ＆ lt With deviation e of nonspring carried mass displacementiQuantified, obtained deviation eiQuantization amount Ei；Wherein,System when sampling for i ＆ lt Spring carried mass displacement and deviation e of nonspring carried mass displacementiQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| during ＜ 0.02,When i ＞ 1 and 0.02≤| ei| when≤0.04,As i ＞ 1 and | ei| during ＞ 0.04,Deviation eiQuantization amount EiDomain For [- 6,6]；
Step 4, suspension vibration controller 7 are according to formulaSystem spring carried mass displacement when sampling to i ＆ lt With deviation e of nonspring carried mass displacementiWith the rate of change of time tQuantified, obtained deviation eiWith the rate of change of time t Quantization amountWherein,Deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when sampling for i ＆ ltiAt any time Between t rate of changeQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 andWhen,As i ＞ 1 andWhen,As i ＞ 1 andWhen,Deviation eiWith the rate of change of time tQuantization amountDomain be [- 6,6]；
Step 5, suspension vibration controller 7 are to deviation eiQuantization amount EiInteger is carried out according to the method for rounding up, Obtain deviation eiQuantization amount EiInteger resultAnd by deviation eiQuantization amount EiInteger resultAs fuzzy First input E ' of controli；
Step 6, suspension vibration controller 7 are to deviation eiWith the rate of change of time tQuantization amountAccording to rounding up Method carry out integer, obtain deviation eiWith the rate of change of time tQuantization amountInteger resultAs fuzzy Second input of control
Step 7, suspension vibration controller 7 are according to first of fuzzy control input E 'iIt is defeated with the second of fuzzy control EnterInquiry be stored in the internal storage of suspension vibration controller 7 by making the mould that suspension vibration controller 7 is pre-established Paste Control query table, obtains the output Γ of fuzzy controli；
Step 8, suspension vibration controller 7 are according to formulaOutput Γ to fuzzy controliIt is adjusted, obtains Outer meeting resistance value R of direct current generator 11 is controlled to suspension vibration controller 7i；Wherein,It is the output Γ to fuzzy controliCarry out The scale factor of adjustment,Obtaining value method be：As i=1,As i ＞ 1 and | ei| ＜ 0.02 orWhen,When i ＞ 1 and 0.02≤| ei|≤0.04 orWhen,As i ＞ 1 and | ei| ＞ 0.04 orWhen,
In the present embodiment, suspension vibration controller described in step 77 pre-establishes the process of fuzzy polling list and is：
Step 701, spring carried mass displacement transducer 2 carry out real-time detection, nonspring carried mass displacement 5 to spring carried mass displacement Sensor carries out real-time detection to nonspring carried mass displacement, and suspension vibration controller 7 is detected to spring carried mass displacement transducer 2 Spring carried mass displacement signal and the nonspring carried mass displacement signal that detects of nonspring carried mass displacement transducer 5 carry out periodically Sampling；
Step 702, suspension vibration controller 7 are according to formulaThe spring carried mass that its i ＆ lt sampling is obtained Displacement signalWith nonspring carried mass displacement signalDiffer from, obtain system spring carried mass displacement when i ＆ lt is sampled and carry with non-spring Deviation e of mass shifti；Wherein, the value of i is non-zero natural number；
Step 703, suspension vibration controller 7 are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiDerivation, obtains the displacement of system spring carried mass and nonspring carried mass displacement when i ＆ lt is sampled Deviation eiWith the rate of change of time t
Step 704, suspension vibration controller 7 are according to formulaSystem spring carried mass displacement when sampling to i ＆ lt With deviation e of nonspring carried mass displacementiQuantified, obtained deviation eiQuantization amount Ei；Wherein,System when sampling for i ＆ lt Spring carried mass displacement and deviation e of nonspring carried mass displacementiQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| during ＜ 0.02,When i ＞ 1 and 0.02≤| ei| when≤0.04,As i ＞ 1 and | ei| during ＞ 0.04,Deviation eiQuantization amount EiDomain For [- 6,6]；
Step 705, suspension vibration controller 7 are according to formulaSystem spring carried mass position when sampling to i ＆ lt Move deviation e with nonspring carried mass displacementiWith the rate of change of time tQuantified, obtained deviation eiWith the rate of change of time tQuantization amountWherein,Deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when sampling for i ＆ ltiAt any time Between t rate of changeQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 andWhen,As i ＞ 1 andWhen,As i ＞ 1 andWhen,Deviation eiWith the rate of change of time tQuantization amountDomain be [- 6,6]；
Step 706, suspension vibration controller 7 are to deviation eiQuantization amount EiFuzzy processing is carried out, its detailed process is such as Under：
Step 7061, definition deviation eiQuantization amount EiFringe collection be combined into honest, center, it is just little, zero, it is negative it is little, In negative, bear greatly }；
Step 7062, suspension vibration controller 7 are according to deviation eiQuantization amount EiTriangular membershipIt is calculated deviation eiQuantization amount EiThe person in servitude of corresponding fringe Category angle value trimf (Ei,a1,b1,c1), and according to maximum membership grade principle determination deviation eiQuantization amount EiCorresponding fuzzy shape State, and when deviation eiQuantization amount EiUnder two kinds of different fringes it is corresponding be subordinate to angle value it is equal when, choose be less than deviation eiQuantization amount EiThe corresponding fringe of data be deviation eiQuantization amount EiCorresponding fringe；Wherein, a1For deviation eiQuantization amount EiThe left summit of the corresponding triangle base of triangular membership abscissa, b1For deviation eiQuantization amount Ei The right summit of the corresponding triangle base of triangular membership abscissa, c1For deviation eiQuantization amount EiTriangle be subordinate to The abscissa on the corresponding triangular-shaped upper portion summit of membership fuction；When fringe is honest, a1=4, b1=6, c1=8；When fuzzy When state is to hit exactly, a1=2, b1=4, c1=6；When fringe be positive hour, a1=0, b1=2, c1=4；Work as fringe When being zero, a1=-2, b1=0, c1=2；When fringe is negative hour, a1=-4, b1=-2, c1=0；When fringe is negative When middle, a1=-6, b1=-4, c1=-2；When fringe is to bear big, a1=-8, b1=-6, c1=-4；
Step 707, suspension vibration controller 7 are to deviation eiWith the rate of change of time tQuantization amountCarry out at obfuscation Reason, its detailed process is as follows：
Step 7071, definition deviation eiWith the rate of change of time tQuantization amountFringe collection be combined into it is { honest, just In, it is just little, zero, it is negative it is little, negative in, it is negative big；
Step 7072, suspension vibration controller 7 are according to deviation eiWith the rate of change of time tQuantization amountTriangle Membership functionIt is calculated deviation eiWith the rate of change of time t Quantization amountCorresponding fringe is subordinate to angle valueAnd determined according to maximum membership grade principle inclined Difference eiWith the rate of change of time tQuantization amountCorresponding fringe, and when deviation eiWith the rate of change of time tQuantization AmountUnder two kinds of different fringes it is corresponding be subordinate to angle value it is equal when, choose be less than deviation eiWith the rate of change of time t Quantization amountThe corresponding fringe of data be deviation eiWith the rate of change of time tQuantization amountCorresponding fuzzy shape State；Wherein, a2For deviation eiWith the rate of change of time tQuantization amountThe corresponding triangle base of triangular membership The abscissa on left summit, b2For deviation eiWith the rate of change of time tQuantization amountThe corresponding triangle of triangular membership The abscissa on the right summit in shape base, c2For deviation eiWith the rate of change of time tQuantization amountTriangular membership correspondence Triangular-shaped upper portion summit abscissa；When fringe is honest, a2=4, b2=6, c2=8；When fringe is center When, a2=2, b2=4, c2=6；When fringe be positive hour, a2=0, b2=2, c2=4；When fringe is zero, a2 =-2, b2=0, c2=2；When fringe is negative hour, a2=-4, b2=-2, c2=0；When fringe is in bearing, a2 =-6, b2=-4, c2=-2；When fringe is to bear big, a2=-8, b2=-6, c2=-4；
Step 708, the output Γ of ambiguity in definition controliFringe collection be combined into honest, center, it is just little, zero, it is negative it is little, In negative, bear greatly, fuzzy control is formulated according to deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the change of time t RateQuantization amountCorresponding fringe obtains the output Γ of fuzzy controliFringe fuzzy control rule, and The output Γ of fuzzy control is determined according to the fuzzy control ruleiFringe；
Wherein, the fuzzy control rule is：
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorrespondence The respectively negative big and negative big or negative neutralization of fringe it is negative big or during negative little and negative big or zero-sum is negative big or negative big and negative, Or during negative neutralization is born or when negative little and negative middle, the output Γ of fuzzy control is honest；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorrespondence The respectively negative big and negative little or negative neutralization of fringe it is negative little or bear little and negative little or zero-sum bear it is little or negative big and when zero, The output Γ of fuzzy control is center；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The respectively negative neutralization zero of the fringe answered or the negative little and zero or negative big and just little or positive hour of negative neutralization, fuzzy control Output Γ is just little；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The fringe answered respectively just neutralizing it is negative big or honest and negative big or just neutralizing bear in or just little and negative little or zero-sum zero, Or when negative big and center or negative neutralization center or honest negative big and honest or negative neutralization, the output Γ of fuzzy control is zero；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountIt is right The fringe answered be respectively it is honest and negative in or just neutralizing negative little or honest and negative little or just little and when zero, fuzzy control Output Γ be negative little；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorrespondence Fringe respectively just neutralizing zero or honest and zero or zero-sum it is just little or just little and just little or just neutralizing just little or just Greatly with just little or negative little and center or just little and center, or when bearing little and honest, during the output Γ of fuzzy control is negative；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorrespondence Fringe be respectively zero-sum center or just neutralizing center or it is honest and center or zero-sum it is honest or just little and honest or When just neutralizing honest or honest and honest, the output Γ of fuzzy control is negative big；
When being embodied as, it is PB, by center letter representation is PM, just little will use letter representation with letter representation by honest For PS, will small incidental expenses letter representation be ZE, by negative little letter representation be NS, will it is negative in be NM, will be born and use word greatly with letter representation Matrix is shown as NB, and the fuzzy control rule form is expressed as into table 1：
The fuzzy control rule table of table 1
Step 709, the output Γ to the fuzzy controliFringe carry out anti fuzzy method process, its detailed process For：
The domain of the output Γ that step 7091, ambiguity in definition are controlled is [- 7,7]；
The output Γ of step 7092, suspension vibration controller 7 according to fuzzy controliTriangular membershipIt is calculated the output Γ of fuzzy controliEach fringe under Each integer is corresponding in the domain [- 7,7] of the output Γ of fuzzy control is subordinate to angle value trimf (Γi,a3,b3,c3), and by certain The corresponding maximum institute being subordinate in angle value of each integer in the domain [- 7,7] of the output Γ of fuzzy control under individual fringe The output Γ of corresponding fuzzy controliValue be defined as the output Γ of the fuzzy controliThe result of anti fuzzy method；Wherein, a3For The output Γ of fuzzy controliThe left summit of the corresponding triangle base of triangular membership abscissa, b3For fuzzy control Output ΓiThe right summit of the corresponding triangle base of triangular membership abscissa, c3For the output Γ of fuzzy controli's The abscissa on the corresponding triangular-shaped upper portion summit of triangular membership；When fringe is honest, a3=5, b3=7, c3= 9；When fringe is to hit exactly, a3=3, b3=5, c3=7；When fringe be positive hour, a3=0, b3=3, c3=5；When When fringe is zero, a3=-3, b3=0, c3=2；When fringe is negative hour, a3=-5, b3=-2, c3=0；When fuzzy When state is in bearing, a3=-7, b3=-5, c3=-3；When fringe is to bear big, a3=-9, b3=-7, c3=-5；
Step 7010, repeat step 701 arrive step 709, until obtaining deviation eiQuantization amount EiDomain [- 6,6] in 13 integers and deviation eiWith the rate of change of time tQuantization amountDomain [- 6,6] in 13 integers 169 kinds of groups Close the output Γ with the fuzzy controliThe one-to-one relationship of the result of anti fuzzy method；
Step 7011, by deviation eiQuantization amount EiDomain [- 6,6] in 13 integers and deviation eiWith the change of time t RateQuantization amountDomain [- 6,6] in 169 kinds of 13 integers combinations and the fuzzy control output ΓiReverse The one-to-one relationship of the result of gelatinization is formulated to fuzzy polling list.
In the present embodiment, fuzzy polling list table described in step 7011 describe in words for：
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and -6, Or -6 and -4, or -6 and -2, or -6 and -1, or -6 and 0, or -4 and -6, or -4 and -4, or -4 and -2, or -4 and -1, or -4 and 0, or when -3 and -6, export ΓiThe result of anti fuzzy method is 7；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and -5, Or -6 and -3, or -5 and -6, or -5 and -5, or -5 and -4, or -5 and -3, or -5 and -2, or -5 and -1, or -5 and 0, or -4 During with -5, or -4 and -3, or -3 and -5, or -3 and -4, or -3 and -3, or -3 and -2, or -3 and -1, or -3 and 0, Γ is exportedi The result of anti fuzzy method is 6；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -2 and -3, Or -1 and -3, or when 0 and -3, export ΓiThe result of anti fuzzy method is 5；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and 1, Or -5 and 1, or -4 and 1, or -6 and 2, or -5 and 2, or -4 and 2, or -2 and -6, or -1 and -6, or 0 and -6, or -2 and -5, Or -1 and -5, or 0 and -5, or -2 and -4, or -1 and -4, or 0 and -4, or -1 and -5, or -2 and -2, or -1 and -2, or -2 and - 1, or -1 and -1, or when -2 and 0, export ΓiThe result of anti fuzzy method is 4；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -3 and 1 When, export ΓiThe result of anti fuzzy method is 3；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 1 and -6, Or 1 and -5, or 2 and -5, or 1 and -4, or 1 and -3, or 2 and -3, or -3 and 2, or -6 and 3, or -5 and 3, or when -4 and 3, it is defeated Go out ΓiThe result of anti fuzzy method is 2；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 2 and -6, or 2 and -4, or 0 and -2, or 0 and -1, or -1 and 0, or -2 and 1, or when 2 and -3, export ΓiThe result of anti fuzzy method is 1；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and -6, Or 4 and -6, or 5 and -6, or 6 and -6, or 3 and -5, or 4 and -5, or 5 and -5, or 6 and -5, or 3 and -4, or 4 and -4, or 6 With -4, or 3 and -3, or 1 and -2, or 2 and -2, or 3 and -4, or 1 and -1, or -2 and 2, or -1 and 2, or -3 and 3, or -2 and 3, Or -1 and 3, or -6 and 4, or -5 and 4, or -4 and 4, or -6 and 5, or -5 and 5, or -4 and 5, or -6 and 6, or -5 and 6, or -4 During with 6, Γ is exportediThe result of anti fuzzy method is 0；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 1 and 0, or 0 and 1, or 0 and 2, or 0 and 3, or -3 and 4, or -2 and 4, or -3 and 5, or -2 and 5, or -3 and 6, or -2 and 6, or when -1 and 6, Output ΓiThe result of anti fuzzy method is -1；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and -3, Or 5 and -3, or 6 and -3, or when -1 and 5, export ΓiThe result of anti fuzzy method is -2；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and -2, Or 2 and -1, or 3 and -1, or 1 and 3, or 2 and 3, or when -1 and 4, export ΓiThe result of anti fuzzy method is -3；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and -2, Or 5 and -2, or 6 and -2, or 4 and -1, or 5 and -1, or 6 and -1, or 2 and 0, or 1 and 1, or 2 and 1, or 1 and 2, or 2 and 2, or 0 and 4, or 1 and 4, or 2 and 4, or 0 and 5, or 1 and 5, or 2 and 5, or 0 and 6, or 1 and 6, or when 2 and 6, export ΓiAnti-fuzzy The result of change is -4；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and 0, or 5 and 0, or 3 and 1, or 5 and 1, or 3 and 2, or 5 and 2, or 3 and 3, or 4 and 3, or 5 and 3, or 6 and 3, or 3 and 4, or 5 and 4, or 3 and 5, or 4 and 5, or 5 and 5, or 6 and 5, or 3 and 6, or when 5 and 6, export ΓiThe result of anti fuzzy method is -6；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and 0, or 6 and 0, or 4 and 1, or 6 and 1, or 4 and 2, or 6 and 2, or 4 and 4, or 6 and 4, or 4 and 6, or when 6 and 6, export ΓiAnti-fuzzy The result of change is -7.
When being embodied as, fuzzy polling list form described in step 7011 is expressed as table 2：
The fuzzy polling list of table 2
The above, is only presently preferred embodiments of the present invention, and not the present invention is imposed any restrictions, every according to the present invention Any simple modification, change and equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention In the protection domain of art scheme.

Claims (10)

1. a kind of Vehicle Semi-active Suspension System with vibration energy regeneration function, it is characterised in that：Including being disposed side by side on car Damper and spring (3) between frame (1) and vehicle bridge (6), and control system and energy-recuperation system；
The damper includes hydraulic cylinder (25), hydraulic motor (21) and direct current generator (11), the hydraulic cylinder (25) and spring (3) it is set in parallel between vehicle frame (1) and vehicle bridge (6), the two ends of the spring (3) are respectively with vehicle frame (1) and vehicle bridge (6) even Connect, the base of the hydraulic cylinder (25) is connected with vehicle bridge (6), the piston rod of the hydraulic cylinder (25) is connected with vehicle frame (1), described Hydraulic cylinder (25) is connected by fluid pressure line (24) with hydraulic motor (21), is connected with the output shaft of the hydraulic motor (21) First power transmission shaft (22), is provided with oppositely arranged the first roll clutch (15) and second and rolls on first power transmission shaft (22) Sub- clutch (18), is fixedly connected with first bevel gear (17) on first roll clutch (15), second roller from Second bevel gear (19) is fixedly connected with clutch (18), one end is provided with below first power transmission shaft (22) with the first cone Gear (17) engagement, the third hand tap gear (14) that engages with second bevel gear (19) of the other end, the direct current generator (11) it is defeated To enter be connected with axle second driving shaft (12), the third hand tap gear (14) is fixedly connected on second driving shaft (12)；
The control system includes suspension vibration controller (7), and the input of the suspension vibration controller (7) is terminated with for right The stress of hydraulic cylinder (25) carries out the force snesor (26) of real-time detection, for carrying out real-time detection to spring carried mass acceleration Spring carried mass acceleration transducer (27), the spring carried mass displacement transducer for carrying out real-time detection to spring carried mass displacement (2) and for carrying out the nonspring carried mass displacement transducer (5) of real-time detection, the force snesor to nonspring carried mass displacement (26) on the piston rod of hydraulic cylinder (25), the spring carried mass acceleration transducer (27) and spring carried mass displacement sensing Device (2) is installed on vehicle frame (1), and in vehicle bridge (6), the suspension shakes the nonspring carried mass displacement transducer (5) The output of movement controller (7) is terminated with DC motor driver (23), the direct current generator (11) and DC motor driver (23) output end connection；
The energy-recuperation system includes the energy recovering circuit (8) being connected with direct current generator (11) and and energy recovering circuit (8) super capacitor (9) of connection, the super capacitor (9) is connected with Vehicular accumulator cell (10).
2. according to the Vehicle Semi-active Suspension System with vibration energy regeneration function described in claim 1, it is characterised in that：Institute It is double acting hydraulic cylinder to state hydraulic cylinder (25).
3. according to the Vehicle Semi-active Suspension System with vibration energy regeneration function described in claim 1, it is characterised in that：Institute State hydraulic motor (21) be gear-type hydraulic motor, vane motor or plunger hydraulic motor.
4. according to the Vehicle Semi-active Suspension System with vibration energy regeneration function described in claim 1, it is characterised in that：Institute State first bevel gear (17) to be welded on the first roll clutch (15), the second bevel gear (19) be welded on the second roller from In clutch (18)；First power transmission shaft (22) is connected by shaft coupling with the output shaft of hydraulic motor (21), and described second passes Moving axis (12) is connected by shaft coupling with the output shaft of direct current generator (11), and the third hand tap gear (14) is welded on the second transmission On axle (12).
5. according to the Vehicle Semi-active Suspension System with vibration energy regeneration function described in claim 1, it is characterised in that：Institute State energy recovering circuit (8) to be made up of the three-phase full wave rectifier circuit, booster circuit and equalizer circuit that are sequentially connected；It is described super Electric capacity (9) is composed in series by the super capacitor of 6 models 120F/2.7V.
6. a kind of method that Vehicle Semi-active Suspension System as claimed in claim 1 is controlled, it is characterised in that the party Method is comprised the following steps：
Step I, force snesor (26) carry out real-time detection to the stress of hydraulic cylinder, and spring carried mass acceleration transducer (27) is to spring Mounted mass acceleration carries out real-time detection, and spring carried mass displacement transducer (2) carries out real-time detection, non-spring to spring carried mass displacement Mounted mass displacement transducer (5) carries out real-time detection to nonspring carried mass displacement；Suspension vibration controller (7) is to hydraulic cylinder (25) Stress, spring carried mass acceleration, spring carried mass displacement and nonspring carried mass displacement carry out periodic samples；
Step II, when running car is on uneven road surface, on the one hand, can occur between the vehicle frame (1) and vehicle bridge (6) relatively Motion, while being vertically connected with for the hydraulic cylinder (25) a little also can occur relative displacement, the now hydraulic oil in hydraulic cylinder (25) Can hydraulic cylinder piston pressure it is dirty enter fluid pressure line (24), the hydraulic oil in the fluid pressure line (24) can band hydrodynamic pressure Motor (21) is rotated, and the hydraulic motor (21) drives connected first power transmission shaft (22) to rotate, due to hydraulic cylinder (25) there is compression in motion and the flow direction of stretching therefore the hydraulic oil in fluid pressure line is also different, ultimately result in hydraulic pressure horse Rotation direction up to (21) is different, and the first roll clutch (15) and the second rolling are driven when hydraulic motor (21) is rotated counterclockwise Sub- clutch (18) rotates, the first roll clutch (15) and the second roll clutch (18) drive first bevel gear (17) and the Two bevel gears (19) rotate, and so as to drive third hand tap gear (14) to rotate, third hand tap gear (14) drives second driving shaft (12) Rotate, second driving shaft (12) drives direct current generator (11) to rotate and generated electricity, while third hand tap gear (14) can also drive the One bevel gear (17) rotates, but in the presence of the first roll clutch (15), first bevel gear (17) simply dallies, while working as When hydraulic motor (21) is rotated clockwise, the first power transmission shaft (22) is also rotated clockwise, and now the first power transmission shaft (22) drives the One roll clutch (15) is rotated, and the first roll clutch (15) drives first bevel gear (17) to rotate, first bevel gear (17) Third hand tap gear (14) is driven to rotate, third hand tap gear (14) drives second driving shaft (12) to rotate, second driving shaft (12) band Dynamic direct current generator (11) rotates and is generated electricity, and in the process no matter hydraulic cylinder (25) is in compressive state or extended state, All, the electricity that direct current generator (11) sends is filled with super the rotation direction of direct current generator (11) through energy recovering circuit (8) Among electric capacity (9), the electric energy in super capacitor (9) is poured again in Vehicular accumulator cell (10), is completed for suspension vibration energy Recovery；On the other hand, the hybrid switch control method of suspension vibration controller (7) basis containing delay bounds is to spring charge material The spring carried mass acceleration signal of amount acceleration transducer (27) collection, the spring charge material of spring carried mass displacement transducer (2) collection Amount displacement signal and the nonspring carried mass displacement signal of nonspring carried mass displacement transducer (5) collection are analyzed process, obtain Control signal, and the critical Slack time of current system is obtained through Smith predictive compensation devices, then by Smith predictive compensation devices In the unit that surmounts control signal shifted to an earlier date into critical Slack time send into motor driver (23), completed by motor driver (23) Control to direct current generator (11) power generation torque, so as to control the rotating speed of direct current generator (11), suppresses the rotation of hydraulic motor (21) Turn, so as to control the damping force of hydraulic cylinder (25), eliminate the time lag of system, realize for suspension damping power Real-time control, reached the purpose of semi-active suspension.
7. in accordance with the method for claim 6, it is characterised in that：Suspension vibration controller described in step II (7) basis contains Spring carried mass acceleration signal that the hybrid switch control method of delay bounds is gathered to spring carried mass acceleration transducer (27), It is non-that the spring carried mass displacement signal and nonspring carried mass displacement transducer (5) of spring carried mass displacement transducer (2) collection is gathered Spring carried mass displacement signal is analyzed process, obtains control signal, and obtains current system through Smith predictive compensation devices Critical Slack time, then by Smith predictive compensation devices in the unit that surmounts control signal shifted to an earlier date into critical Slack time send into electricity Machine driver (23), completed by motor driver (23) be to the detailed process for controlling of direct current generator (11) power generation torque：It is first First, hydraulic cylinder (25) stress size F that suspension vibration controller (7) obtains i ＆ lt samplingiWith set in advance by force threshold FeCompare, work as Fi＞ FeWhen, suspension vibration controller (7) is using ground canopy control strategy, i.e. suspension vibration controller (7) elder generation root According to formulaThe nonspring carried mass speed being calculated when i ＆ lt is sampledFurther according to formula It is calculated the nonspring carried mass speed of i ＆ lt samplingDamping force under corresponding ground canopy controlObtain driving motor The control signal of dynamic device (23), and through Smith predictive compensation devices according to formulaCalculate Obtain the critical Slack time τ of current system, then by Smith predictive compensation devices in surmount unit critical in advance by control signal Slack time τ sends into motor driver (23), and by motor driver (23) control to direct current generator (11) power generation torque is completed, MakeRealize the semi- active control of the damper (25)；Wherein,For the nonspring carried mass position that i ＆ lt sampling is obtained Move,For the i-th -1 time nonspring carried mass displacement for obtaining of sampling, t is the time, CgDamped coefficient is controlled for ground canopy, value is 0 ～2500Ns/m, CsFor the base value damped coefficient of the suspension system；Work as Fi≤FeWhen, suspension vibration controller (7) is again by Sample for i time the spring carried mass acceleration a for obtainingiWith acceleration rate threshold a set in advanceeCompare, work as ai＞ aeWhen, suspension shakes Movement controller (7) adopts Skyhook control method, i.e. suspension vibration controller (7) first according to formulaIt is calculated Spring carried mass speed when i ＆ lt is sampledFurther according to formulaIt is calculated the spring carried mass of i ＆ lt sampling SpeedDamping force under corresponding capricorn bettleThe control signal to motor driver (23) is obtained, and is passed through Smith predictive compensation devices are according to formulaIt is calculated the critical Slack time of current system τ ', then by Smith predictive compensation devices in the unit that surmounts control signal shifted to an earlier date into critical Slack time τ ' send into motor driver (23), the control to direct current generator (11) power generation torque is completed by motor driver (23), is madeRealize the damping The semi- active control of device (25)；Wherein,For the i ＆ lt spring carried mass displacement that obtains of sampling,Obtain for the i-th -1 time sampling Spring carried mass displacement, t is the time, CskyFor capricorn bettle damped coefficient, value is 0～2500Ns/m,；Work as ai≤aeWhen, The suspension vibration controller (7) samples the spring carried mass displacement signal that obtains using the method for fuzzy control to it and non-spring is carried Mass shift signal is analyzed and processes so as to realize the semi- active control of suspension system.
8. in accordance with the method for claim 7, it is characterised in that：Work as ai≤aeWhen, the suspension vibration controller (7) adopts The method of fuzzy control samples the spring carried mass displacement signal that obtains to it and nonspring carried mass displacement signal is analyzed process So as to the detailed process of semi- active control for realizing suspension system is：
Step one, suspension vibration controller (7) are according to formulaThe spring carried mass displacement that its i ＆ lt sampling is obtained SignalWith nonspring carried mass displacement signalDiffer from, obtain the displacement of system spring carried mass and nonspring carried mass when i ＆ lt is sampled Deviation e of displacementi；Wherein, the value of i is natural number；
Step 2, suspension vibration controller (7) are according to formulaThe displacement of system spring carried mass and non-spring when sampling to i ＆ lt Deviation e of mounted mass displacementiDerivation, obtains deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when i ＆ lt is sampledi With the rate of change of time t
Step 3, suspension vibration controller (7) are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiQuantified, obtained quantization amount E of deviation eii；Wherein,System when sampling for i ＆ lt Spring carried mass displacement and deviation e of nonspring carried mass displacementiQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| during ＜ 0.02,When i ＞ 1 and 0.02≤| ei| when≤0.04,As i ＞ 1 and | ei| during ＞ 0.04,Deviation eiQuantization amount EiDomain For [- 6,6]；
Step 4, suspension vibration controller (7) are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiWith the rate of change of time tQuantified, obtained deviation eiWith the rate of change of time tAmount Change amountWherein,Deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when sampling for i ＆ ltiWith time t's Rate of changeQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 andWhen,As i ＞ 1 andWhen,As i ＞ 1 andWhen,Deviation eiWith the rate of change of time tQuantization amountDomain be [- 6,6]；
Step 5, suspension vibration controller (7) are to deviation eiQuantization amount EiInteger is carried out according to the method for rounding up, is obtained To deviation eiQuantization amount EiInteger resultAnd by deviation eiQuantization amount EiInteger resultAs Fuzzy Control First input E ' of systemi；
Step 6, suspension vibration controller (7) are to deviation eiWith the rate of change of time tQuantization amountAccording to what is rounded up Method carries out integer, obtains deviation eiWith the rate of change of time tQuantization amountInteger resultAs Fuzzy Control Second input of system
Step 7, suspension vibration controller (7) are according to first of fuzzy control input E 'iIt is input into second of fuzzy controlInquiry be stored in suspension vibration controller (7) internal storage by making what suspension vibration controller (7) was pre-established Fuzzy polling list, obtains the output Γ of fuzzy controli；
Step 8, suspension vibration controller (7) are according to formulaOutput Γ to fuzzy controliIt is adjusted, obtains Suspension vibration controller (7) controls direct current generator (11) outer meeting resistance value Ri；Wherein,It is the output Γ to fuzzy controliEnter The scale factor of row adjustment,Obtaining value method be：As i=1,As i ＞ 1 and | ei| ＜ 0.02 orWhen,When i ＞ 1 and 0.02≤| ei|≤0.04 orWhen,As i ＞ 1 and | ei| ＞ 0.04 orWhen,
9. in accordance with the method for claim 8, it is characterised in that：Suspension vibration controller described in step 7 (7) is made in advance The process for determining fuzzy polling list is：
Step 701, spring carried mass displacement transducer (2) carry out real-time detection, nonspring carried mass displacement (5) to spring carried mass displacement Sensor carries out real-time detection to nonspring carried mass displacement, and suspension vibration controller (7) is examined to spring carried mass displacement transducer (2) The nonspring carried mass displacement signal that the spring carried mass displacement signal and nonspring carried mass displacement transducer (5) for measuring is detected is carried out Periodic samples；
Step 702, suspension vibration controller (7) are according to formulaThe spring carried mass position that its i ＆ lt sampling is obtained Shifting signalWith nonspring carried mass displacement signalDiffer from, obtain the displacement of system spring carried mass and non-spring charge material when i ＆ lt is sampled Deviation e of amount displacementi；Wherein, the value of i is non-zero natural number；
Step 703, suspension vibration controller (7) are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with it is non- Deviation e of spring carried mass displacementiDerivation, obtains system spring carried mass displacement when i ＆ lt is sampled inclined with nonspring carried mass displacement Difference eiWith the rate of change of time t
Step 704, suspension vibration controller (7) are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiQuantified, obtained deviation eiQuantization amount Ei；Wherein,System spring when sampling for i ＆ lt Mounted mass displacement and deviation e of nonspring carried mass displacementiQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 and | ei| during ＜ 0.02,When i ＞ 1 and 0.02≤| ei| when≤0.04,As i ＞ 1 and | ei| during ＞ 0.04,Deviation eiQuantization amount EiDomain For [- 6,6]；
Step 705, suspension vibration controller (7) are according to formulaWhen sampling to i ＆ lt the displacement of system spring carried mass with Deviation e of nonspring carried mass displacementiWith the rate of change of time tQuantified, obtained deviation eiWith the rate of change of time t's Quantization amountWherein,Deviation e of the displacement of system spring carried mass and nonspring carried mass displacement when sampling for i ＆ ltiWith time t Rate of changeQuantizing factor,Obtaining value method be：As i=1,As i ＞ 1 andWhen,As i ＞ 1 andWhen,As i ＞ 1 andWhen,Deviation eiWith the rate of change of time tQuantization amountDomain be [- 6,6]；
Step 706, suspension vibration controller (7) are to deviation eiQuantization amount EiFuzzy processing is carried out, its detailed process is as follows：
Step 7061, definition deviation eiQuantization amount EiFringe collection be combined into honest, center, it is just little, zero, it is negative it is little, negative in, It is negative big }；
Step 7062, suspension vibration controller (7) are according to deviation eiQuantization amount EiTriangular membershipIt is calculated deviation eiQuantization amount EiThe person in servitude of corresponding fringe Category angle value trimf (Ei,a1,b1,c1), and according to maximum membership grade principle determination deviation eiQuantization amount EiCorresponding fuzzy shape State, and when deviation eiQuantization amount EiUnder two kinds of different fringes it is corresponding be subordinate to angle value it is equal when, choose be less than deviation eiQuantization amount EiThe corresponding fringe of data be deviation eiQuantization amount EiCorresponding fringe；Wherein, a1For deviation eiQuantization amount EiThe left summit of the corresponding triangle base of triangular membership abscissa, b1For deviation eiQuantization amount Ei The right summit of the corresponding triangle base of triangular membership abscissa, c1For deviation eiQuantization amount EiTriangle be subordinate to The abscissa on the corresponding triangular-shaped upper portion summit of membership fuction；When fringe is honest, a1=4, b1=6, c1=8；When fuzzy When state is to hit exactly, a1=2, b1=4, c1=6；When fringe be positive hour, a1=0, b1=2, c1=4；Work as fringe When being zero, a1=-2, b1=0, c1=2；When fringe is negative hour, a1=-4, b1=-2, c1=0；When fringe is negative When middle, a1=-6, b1=-4, c1=-2；When fringe is to bear big, a1=-8, b1=-6, c1=-4；
Step 707, suspension vibration controller (7) are to deviation eiWith the rate of change of time tQuantization amountCarry out at obfuscation Reason, its detailed process is as follows：
Step 7071, definition deviation eiWith the rate of change of time tQuantization amountFringe collection be combined into it is honest, center, It is just little, zero, it is negative it is little, negative in, it is negative big；
Step 7072, suspension vibration controller (7) are according to deviation eiWith the rate of change of time tQuantization amountTriangle be subordinate to Membership fuctionIt is calculated deviation eiWith the rate of change of time t's Quantization amountCorresponding fringe is subordinate to angle valueAnd according to maximum membership grade principle determination deviation eiWith the rate of change of time tQuantization amountCorresponding fringe, and when deviation eiWith the rate of change of time tQuantization AmountUnder two kinds of different fringes it is corresponding be subordinate to angle value it is equal when, choose be less than deviation eiWith the rate of change of time t Quantization amountThe corresponding fringe of data be deviation eiWith the rate of change of time tQuantization amountCorresponding fuzzy shape State；Wherein, a2For deviation eiWith the rate of change of time tQuantization amountThe corresponding triangle base of triangular membership The abscissa on left summit, b2For deviation eiWith the rate of change of time tQuantization amountThe corresponding triangle of triangular membership The abscissa on the right summit in shape base, c2For deviation eiWith the rate of change of time tQuantization amountTriangular membership correspondence Triangular-shaped upper portion summit abscissa；When fringe is honest, a2=4, b2=6, c2=8；When fringe is center When, a2=2, b2=4, c2=6；When fringe be positive hour, a2=0, b2=2, c2=4；When fringe is zero, a2 =-2, b2=0, c2=2；When fringe is negative hour, a2=-4, b2=-2, c2=0；When fringe is in bearing, a2 =-6, b2=-4, c2=-2；When fringe is to bear big, a2=-8, b2=-6, c2=-4；
Step 708, the output Γ of ambiguity in definition controliFringe collection be combined into honest, center, it is just little, zero, it is negative it is little, negative in, It is negative big }, fuzzy control is formulated according to deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time t Quantization amountCorresponding fringe obtains the output Γ of fuzzy controliFringe fuzzy control rule, and according to The fuzzy control rule determines the output Γ of fuzzy controliFringe；
Wherein, the fuzzy control rule is：
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould The respectively negative big and negative big or negative neutralization of paste state is negative big or during negative little and negative big or zero-sum is negative big or negative big and negative or negative During neutralization is negative or when negative little and negative middle, the output Γ of fuzzy control is honest；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould The respectively negative big and negative little or negative neutralization of paste state is negative little or bears little and negative little or zero-sum and bears little or negative big and when zero, obscures The output Γ for controlling is center；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould The respectively negative neutralization zero of paste state or the negative little and zero or negative big and just little or positive hour of negative neutralization, the output Γ of fuzzy control For just little；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould Paste state respectively just neutralizing it is negative big or honest and negative big or just neutralizing it is negative in just little and negative little or zero-sum zero or it is negative greatly With when center or negative neutralization center or honest negative big and honest or negative neutralization, the output Γ of fuzzy control is zero；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould Paste state be respectively it is honest and negative in or just neutralizing negative little or honest and negative little or just little and when zero, the output of fuzzy control Γ is negative little；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould Paste state respectively just neutralizing zero or honest and zero or zero-sum it is just little or just little and just little or just neutralizing it is just little or honest and Just little or negative little and center or just little and center, or when negative little and honest, during the output Γ of fuzzy control is negative；
When deviation eiQuantization amount EiCorresponding fringe and deviation eiWith the rate of change of time tQuantization amountCorresponding mould Paste state be respectively zero-sum center or just neutralizing center or it is honest and center or zero-sum it is honest or just little and honest or center With it is honest or honest and honest when, the output Γ of fuzzy control is negative big；
Step 709, the output Γ to the fuzzy controliFringe carry out anti fuzzy method process, its detailed process is：
The domain of the output Γ that step 7091, ambiguity in definition are controlled is [- 7,7]；
The output Γ of step 7092, suspension vibration controller (7) according to fuzzy controliTriangular membershipIt is calculated the output Γ of fuzzy controliEach fringe under Each integer is corresponding in the domain [- 7,7] of the output Γ of fuzzy control is subordinate to angle value trimf (Γi,a3,b3,c3), and by certain The corresponding maximum institute being subordinate in angle value of each integer in the domain [- 7,7] of the output Γ of fuzzy control under individual fringe The output Γ of corresponding fuzzy controliValue be defined as the output Γ of the fuzzy controliThe result of anti fuzzy method；Wherein, a3For The output Γ of fuzzy controliThe left summit of the corresponding triangle base of triangular membership abscissa, b3For fuzzy control Output ΓiThe right summit of the corresponding triangle base of triangular membership abscissa, c3For the output Γ of fuzzy controli's The abscissa on the corresponding triangular-shaped upper portion summit of triangular membership；When fringe is honest, a3=5, b3=7, c3= 9；When fringe is to hit exactly, a3=3, b3=5, c3=7；When fringe be positive hour, a3=0, b3=3, c3=5；When When fringe is zero, a3=-3, b3=0, c3=2；When fringe is negative hour, a3=-5, b3=-2, c3=0；When fuzzy When state is in bearing, a3=-7, b3=-5, c3=-3；When fringe is to bear big, a3=-9, b3=-7, c3=-5；
Step 7010, repeat step 701 arrive step 709, until obtaining deviation eiQuantization amount EiDomain [- 6,6] in 13 Integer and deviation eiWith the rate of change of time tQuantization amountDomain [- 6,6] in 169 kinds of 13 integers combinations with The output Γ of the fuzzy controliThe one-to-one relationship of the result of anti fuzzy method；
Step 7011, by deviation eiQuantization amount EiDomain [- 6,6] in 13 integers and deviation eiWith the rate of change of time tQuantization amountDomain [- 6,6] in 169 kinds of 13 integers combinations and the fuzzy control output ΓiAnti-fuzzy The one-to-one relationship of the result of change is formulated to fuzzy polling list.
10. in accordance with the method for claim 9, it is characterised in that：The term of fuzzy polling list table described in step 7011 Speech is described as：
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and -6, or -6 With -4, or -6 and -2, or -6 and -1, or -6 and 0, or -4 and -6, or -4 and -4, or -4 and -2, or -4 and -1, or -4 and 0, Or when -3 and -6, export ΓiThe result of anti fuzzy method is 7；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and -5, or -6 With -3, or -5 and -6, or -5 and -5, or -5 and -4, or -5 and -3, or -5 and -2, or -5 and -1, or -5 and 0, or -4 and -5, Or -4 and -3, or -3 and -5, or -3 and -4, or -3 and -3, or -3 and -2, or -3 and -1, or when -3 and 0, export ΓiAnti-fuzzy The result of change is 6；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -2 and -3, or -1 During with -3, or 0 and -3, Γ is exportediThe result of anti fuzzy method is 5；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -6 and 1, or -5 and 1, or -4 and 1, or -6 and 2, or -5 and 2, or -4 and 2, or -2 and -6, or -1 and -6, or 0 and -6, or -2 and -5, or -1 and - 5, or 0 and -5, or -2 and -4, or -1 and -4, or 0 and -4, or -1 and -5, or -2 and -2, or -1 and -2, or -2 and -1, or -1 During with -1, or -2 and 0, Γ is exportediThe result of anti fuzzy method is 4；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively -3 and 1 when, output ΓiThe result of anti fuzzy method is 3；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 1 and -6, or 1 and - 5, or 2 and -5, or 1 and -4, or 1 and -3, or 2 and -3, or -3 and 2, or -6 and 3, or -5 and 3, or when -4 and 3, export ΓiInstead The result of obfuscation is 2；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 2 and -6, or 2 and - 4, or 0 and -2, or 0 and -1, or -1 and 0, or -2 and 1, or when 2 and -3, export ΓiThe result of anti fuzzy method is 1；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and -6, or 4 and - 6, or 5 and -6, or 6 and -6, or 3 and -5, or 4 and -5, or 5 and -5, or 6 and -5, or 3 and -4, or 4 and -4, or 6 and -4, or 3 With -3, or 1 and -2, or 2 and -2, or 3 and -4, or 1 and -1, or -2 and 2, or -1 and 2, or -3 and 3, or -2 and 3, or -1 and 3, Or -6 and 4, or -5 and 4, or -4 and 4, or -6 and 5, or -5 and 5, or -4 and 5, or -6 and 6, or -5 and 6, or when -4 and 6, it is defeated Go out ΓiThe result of anti fuzzy method is 0；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 1 and 0, or 0 and 1, Or 0 and 2, or 0 and 3, or -3 and 4, or -2 and 4, or -3 and 5, or -2 and 5, or -3 and 6, or -2 and 6, or when -1 and 6, output ΓiThe result of anti fuzzy method is -1；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and -3, or 5 and - 3, or 6 and -3, or when -1 and 5, export ΓiThe result of anti fuzzy method is -2；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and -2, or 2 and - 1, or 3 and -1, or 1 and 3, or 2 and 3, or when -1 and 4, export ΓiThe result of anti fuzzy method is -3；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and -2, or 5 and - 2, or 6 and -2, or 4 and -1, or 5 and -1, or 6 and -1, or 2 and 0, or 1 and 1, or 2 and 1, or 1 and 2, or 2 and 2, or 0 and 4, Or 1 and 4, or 2 and 4, or 0 and 5, or 1 and 5, or 2 and 5, or 0 and 6, or 1 and 6, or when 2 and 6, export ΓiThe knot of anti fuzzy method Fruit is -4；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 3 and 0, or 5 Hes 0, or 3 and 1, or 5 and 1, or 3 and 2, or 5 and 2, or 3 and 3, or 4 and 3, or 5 and 3, or 6 and 3, or 3 and 4, or 5 and 4, or 3 Hes 5, or 4 and 5, or 5 and 5, or 6 and 5, or 3 and 6, or when 5 and 6, export ΓiThe result of anti fuzzy method is -6；
When deviation eiQuantization amount EiWith deviation eiWith the rate of change of time tQuantization amountValue be respectively 4 and 0, or 6 and 0, Or 4 and 1, or 6 and 1, or 4 and 2, or 6 and 2, or 4 and 4, or 6 and 4, or 4 and 6, or when 6 and 6, export ΓiThe knot of anti fuzzy method Fruit is -7.
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CN107825930A (en) * 2017-12-08 2018-03-23 吉林大学 A kind of intelligent fuzzy mixing canopy semi-active control method for vehicle suspension system
CN108297641A (en) * 2018-03-28 2018-07-20 燕山大学 A kind of energy regeneration vehicle shock absorber
CN108982013A (en) * 2018-08-16 2018-12-11 中铁大桥科学研究院有限公司 For judging device, method and the calculation method of bridge rotation critical balance
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CN111976472A (en) * 2019-05-21 2020-11-24 陕西汽车集团有限责任公司 Vehicle transmission shaft power generation and fault monitoring and early warning system
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CN113536616A (en) * 2020-04-21 2021-10-22 宁波思明汽车科技股份有限公司 Design optimization method of electromagnetic linear energy feedback suspension
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CN113561720A (en) * 2021-06-25 2021-10-29 东风汽车集团股份有限公司 Suspension cylinder type energy recovery system and control method thereof
CN113635725A (en) * 2021-07-23 2021-11-12 中国北方车辆研究所 Multi-mode control device for electromechanical suspension
CN113635725B (en) * 2021-07-23 2024-03-08 中国北方车辆研究所 Multi-mode control device for electromechanical suspension

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